No abstract

No abstract

In this paper we introduce robots called MRINSPECT (Multifunctional Robotic crawler for INpipe inSPEC Tion) III and IV which are under development for the inspection of urban gas pipelines. The proposed robots can freely move along the basic configuration of pipelines such CLi; horizontal or' vertical pipelines. MO'reover' it can travel along reducers, elbows, and steer in the branches by using steering mechanisms. Espe cially, their three dimensional steering capability pro vides outstanding mobility in navigation that is a pre requisite characteristic in urban gas pipelines. Their critical points in the design and construction are in troduced with preliminary results of experiments.

No abstract

No abstract